A Graph-Based Collision-Free Distributed Formation Control Strategy

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• 作者：Riccardo Falconi^* ; ^{riccardo.falconi@unibo.it" class="auth_mail" title="E-mail the corresponding author} ; Lorenzo Sabattini^* ; ^{lorenzo.sabattini2@unibo.it" class="auth_mail" title="E-mail the corresponding author} ; Cristian Secchi^** ; ^{cristian.secchi@unimore.it" class="auth_mail" title="E-mail the corresponding author} ; Cesare Fantuzzi^** ; ^{cesare.fantuzzi@unimore.it" class="auth_mail" title="E-mail the corresponding author} ; Claudio Melchiorri^* ; ^{claudio.melchiorri@unibo.it" class="auth_mail" title="E-mail the corresponding author}
• 关键词：Connectivity ; distributed control ; estimation algorithms ; autonomous mobile robots ; graph theory
• 刊名：IFAC-PapersOnLine
• 出版年：2011
• 出版时间：January 2011
• 年：2011
• 卷：44
• 期：1
• 页码：6011-6016
• 全文大小：487 K

文摘

In this paper we describe a consensus based control strategy to obtain a formation of groups of mobile robots. Weighted graphs are used to obtain the desired formation–shape while avoiding collisions among the robots. Since mobile robots usually move in unknown and unstructured environments, we show how to extend our control strategy to make the robots avoid collision with obstacles as well. To validate our control strategy, we provide both analytical proofs and simulative and experimental results.